Merge pull request #315 from dimforge/debug-renderer

Add a basic lines-based debug-renderer

37 files changed, 1890 insertions, 197 deletions

diff --git a/Cargo.toml b/Cargo.toml
index 3e732d5..5704e55 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -14,12 +14,13 @@ resolver = "2"
 #parry3d-f64 = { path = "../parry/crates/parry3d-f64" }
 # nalgebra = { path = "../nalgebra" }
 
+
 #kiss3d = { git = "https://github.com/sebcrozet/kiss3d" }
 #nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
-parry2d = { git = "https://github.com/dimforge/parry", branch = "split-and-qbvh" }
-parry3d = { git = "https://github.com/dimforge/parry", branch = "split-and-qbvh" }
-parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "split-and-qbvh" }
-parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "split-and-qbvh" }
+parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }
+parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
+parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
+parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
 
 [profile.release]
 #debug = true
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
index 44a86bd..f0a85d9 100644
--- a/crates/rapier2d-f64/Cargo.toml
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ]
 wasm-bindgen = [ "instant/wasm-bindgen" ]
 serde-serialize = [ "nalgebra/serde-serialize", "parry2d-f64/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
 enhanced-determinism = [ "simba/libm_force", "parry2d-f64/enhanced-determinism", "indexmap" ]
+debug-render = [ ]
 
 # Feature used for debugging only.
 debug-disable-legitimate-fe-exceptions = [ ]
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
index ad79f12..172c3c8 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ]
 wasm-bindgen = [ "instant/wasm-bindgen" ]
 serde-serialize = [ "nalgebra/serde-serialize", "parry2d/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
 enhanced-determinism = [ "simba/libm_force", "parry2d/enhanced-determinism", "indexmap" ]
+debug-render = [ ]
 
 # Feature used for debugging only.
 debug-disable-legitimate-fe-exceptions = [ ]
diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
index 1b8c1dc..6cdf20f 100644
--- a/crates/rapier3d-f64/Cargo.toml
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ]
 wasm-bindgen = [ "instant/wasm-bindgen" ]
 serde-serialize = [ "nalgebra/serde-serialize", "parry3d-f64/serde-serialize", "serde", "bit-vec/serde" ]
 enhanced-determinism = [ "simba/libm_force", "parry3d-f64/enhanced-determinism" ]
+debug-render = []
 
 # Feature used for debugging only.
 debug-disable-legitimate-fe-exceptions = [ ]
diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
index 4aae73a..7f4896d 100644
--- a/crates/rapier3d/Cargo.toml
+++ b/crates/rapier3d/Cargo.toml
@@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ]
 wasm-bindgen = [ "instant/wasm-bindgen" ]
 serde-serialize = [ "nalgebra/serde-serialize", "parry3d/serde-serialize", "serde", "bit-vec/serde" ]
 enhanced-determinism = [ "simba/libm_force", "parry3d/enhanced-determinism" ]
+debug-render = [ ]
 
 # Feature used for debugging only.
 debug-disable-legitimate-fe-exceptions = [ ]
diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
index cfa0f42..c29a1ea 100644
--- a/crates/rapier_testbed2d-f64/Cargo.toml
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -38,20 +38,21 @@ bincode = "1"
 Inflector  = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.10"
-bevy_ecs = "0.6"
+bevy_egui = "0.13"
+bevy_ecs = "0.7"
+#bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render", "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render"]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
 version = "0.12.0-alpha.1"
-features = [ "serde-serialize" ]
+features = [ "serde-serialize", "debug-render" ]
diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
index 6b0430a..d1a21a7 100644
--- a/crates/rapier_testbed2d/Cargo.toml
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -38,20 +38,21 @@ bincode = "1"
 Inflector  = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.10"
-bevy_ecs = "0.6"
+bevy_egui = "0.13"
+bevy_ecs = "0.7"
+#bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render", "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render"]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
 version = "0.12.0-alpha.1"
-features = [ "serde-serialize" ]
+features = [ "serde-serialize", "debug-render" ]
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
index dfd0fbd..a08338b 100644
--- a/crates/rapier_testbed3d-f64/Cargo.toml
+++ b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -36,20 +36,21 @@ md5 = "0.7"
 Inflector  = "0.11"
 serde = { version = "1", features = [ "derive" ] }
 
-bevy_egui = "0.10"
-bevy_ecs = "0.6"
+bevy_egui = "0.13"
+bevy_ecs = "0.7"
+#bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render", "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render"]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
 version = "0.12.0-alpha.1"
-features = [ "serde-serialize" ]
\ No newline at end of file
+features = [ "serde-serialize", "debug-render" ]
\ No newline at end of file
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index 89a050f..a258938 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -40,20 +40,21 @@ md5 = "0.7"
 Inflector  = "0.11"
 serde = { version = "1", features = [ "derive" ] }
 
-bevy_egui = "0.10"
-bevy_ecs = "0.6"
+bevy_egui = "0.13"
+bevy_ecs = "0.7"
+#bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render", "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render"]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
 version = "0.12.0-alpha.1"
-features = [ "serde-serialize" ]
\ No newline at end of file
+features = [ "serde-serialize", "debug-render" ]
\ No newline at end of file
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index b5dc984..f7c6cb3 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -578,33 +578,33 @@ fn do_init_world(testbed: &mut Testbed, use_articulations: bool) {
     let mut impulse_joints = ImpulseJointSet::new();
     let mut multibody_joints = MultibodyJointSet::new();
 
-    // create_prismatic_joints(
-    //     &mut bodies,
-    //     &mut colliders,
-    //     &mut impulse_joints,
-    //     &mut multibody_joints,
-    //     point![20.0, 5.0, 0.0],
-    //     4,
-    //     use_articulations,
-    // );
-    // create_actuated_prismatic_joints(
-    //     &mut bodies,
-    //     &mut colliders,
-    //     &mut impulse_joints,
-    //     &mut multibody_joints,
-    //     point![25.0, 5.0, 0.0],
-    //     4,
-    //     use_articulations,
-    // );
-    // create_revolute_joints(
-    //     &mut bodies,
-    //     &mut colliders,
-    //     &mut impulse_joints,
-    //     &mut multibody_joints,
-    //     point![20.0, 0.0, 0.0],
-    //     3,
-    //     use_articulations,
-    // );
+    create_prismatic_joints(
+        &mut bodies,
+        &mut colliders,
+        &mut impulse_joints,
+        &mut multibody_joints,
+        point![20.0, 5.0, 0.0],
+        4,
+        use_articulations,
+    );
+    create_actuated_prismatic_joints(
+        &mut bodies,
+        &mut colliders,
+        &mut impulse_joints,
+        &mut multibody_joints,
+        point![25.0, 5.0, 0.0],
+        4,
+        use_articulations,
+    );
+    create_revolute_joints(
+        &mut bodies,
+        &mut colliders,
+        &mut impulse_joints,
+        &mut multibody_joints,
+        point![20.0, 0.0, 0.0],
+        3,
+        use_articulations,
+    );
     create_revolute_joints_with_limits(
         &mut bodies,
         &mut colliders,
@@ -613,57 +613,57 @@ fn do_init_world(testbed: &mut Testbed, use_articulations: bool) {
         point![34.0, 0.0, 0.0],
         use_articulations,
     );
-    // create_fixed_joints(
-    //     &mut bodies,
-    //     &mut colliders,
-    //     &mut impulse_joints,
-    //     &mut multibody_joints,
-    //     point![0.0, 10.0, 0.0],
-    //     10,
-    //     use_articulations,
-    // );
-    // create_actuated_revolute_joints(
-    //     &mut bodies,
-    //     &mut colliders,
-    //     &mut impulse_joints,
-    //     &mut multibody_joints,
-    //     point![20.0, 10.0, 0.0],
-    //     6,
-    //     use_articulations,
-    // );
-    // create_actuated_spherical_joints(
-    //     &mut bodies,
-    //     &mut colliders,
-    //     &mut impulse_joints,
-    //     &mut multibody_joints,
-    //     point![13.0, 10.0, 0.0],
-    //     3,
-    //     use_articulations,
-    // );
-    // create_spherical_joints(
-    //     &mut bodies,
-    //     &mut colliders,
-    //     &mut impulse_joints,
-    //     &mut multibody_joints,
-    //     15,
-    //     use_articulations,
-    // );
-    // create_spherical_joints_with_limits(
-    //     &mut bodies,
-    //     &mut colliders,
-    //     &mut impulse_joints,
-    //     &mut multibody_joints,
-    //     point![-5.0, 0.0, 0.0],
-    //     use_articulations,
-    // );
-    // create_coupled_joints(
-    //     &mut bodies,
-    //     &mut colliders,
-    //     &mut impulse_joints,
-    //     &mut multibody_joints,
-    //     point![0.0, 20.0, 0.0],
-    //     use_articulations,
-    // );
+    create_fixed_joints(
+        &mut bodies,
+        &mut colliders,
+        &mut impulse_joints,
+        &mut multibody_joints,
+        point![0.0, 10.0, 0.0],
+        10,
+        use_articulations,
+    );
+    create_actuated_revolute_joints(
+        &mut bodies,
+        &mut colliders,
+        &mut impulse_joints,
+        &mut multibody_joints,
+        point![20.0, 10.0, 0.0],
+        6,
+        use_articulations,
+    );
+    create_actuated_spherical_joints(
+        &mut bodies,
+        &mut colliders,
+        &mut impulse_joints,
+        &mut multibody_joints,
+        point![13.0, 10.0, 0.0],
+        3,
+        use_articulations,
+    );
+    create_spherical_joints(
+        &mut bodies,
+        &mut colliders,
+        &mut impulse_joints,
+        &mut multibody_joints,
+        15,
+        use_articulations,
+    );
+    create_spherical_joints_with_limits(
+        &mut bodies,
+        &mut colliders,
+        &mut impulse_joints,
+        &mut multibody_joints,
+        point![-5.0, 0.0, 0.0],
+        use_articulations,
+    );
+    create_coupled_joints(
+        &mut bodies,
+        &mut colliders,
+        &mut impulse_joints,
+        &mut multibody_joints,
+        point![0.0, 20.0, 0.0],
+        use_articulations,
+    );
 
     /*
      * Set up the testbed.
diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs
index 77a1ff7..bdde135 100644
--- a/src/dynamics/ccd/ccd_solver.rs
+++ b/src/dynamics/ccd/ccd_solver.rs
@@ -4,7 +4,7 @@ use crate::geometry::{ColliderParent, ColliderSet, CollisionEvent, NarrowPhase};
 use crate::math::Real;
 use crate::parry::utils::SortedPair;
 use crate::pipeline::{EventHandler, QueryPipeline, QueryPipelineMode};
-use crate::prelude::ActiveEvents;
+use crate::prelude::{ActiveEvents, CollisionEventFlags};
 use parry::query::{DefaultQueryDispatcher, QueryDispatcher};
 use parry::utils::hashmap::HashMap;
 use std::collections::BinaryHeap;
@@ -529,8 +529,18 @@ impl CCDSolver {
                     .contains(ActiveEvents::COLLISION_EVENTS)
             {
                 // Emit one intersection-started and one intersection-stopped event.
-                events.handle_collision_event(CollisionEvent::Started(toi.c1, toi.c2), None);
-                events.handle_collision_event(CollisionEvent::Stopped(toi.c1, toi.c2, false), None);
+                events.handle_collision_event(
+                    bodies,
+                    colliders,
+                    CollisionEvent::Started(toi.c1, toi.c2, CollisionEventFlags::SENSOR),
+                    None,
+                );
+                events.handle_collision_event(
+                    bodies,
+                    colliders,
+                    CollisionEvent::Stopped(toi.c1, toi.c2, CollisionEventFlags::SENSOR),
+                    None,
+                );
             }
         }
 
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs
index 84c8117..6a86a2a 100644
--- a/src/dynamics/integration_parameters.rs
+++ b/src/dynamics/integration_parameters.rs
@@ -93,12 +93,12 @@ impl IntegrationParameters {
 
     /// The ERP coefficient, multiplied by the inverse timestep length.
     pub fn erp_inv_dt(&self) -> Real {
-        self.erp / self.dt
+        self.erp * self.inv_dt()
     }
 
     /// The joint ERP coefficient, multiplied by the inverse timestep length.
     pub fn joint_erp_inv_dt(&self) -> Real {
-        self.joint_erp / self.dt
+        self.joint_erp * self.inv_dt()
     }
 
     /// The CFM factor to be used in the constraints resolution.
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
index 748530f..06dff5d 100644
--- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
+++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
@@ -299,10 +299,20 @@ impl MultibodyJointSet {
     }
 
     /// Gets a mutable reference to the multibody identified by its `handle`.
+    pub fn get_mut(&mut self, handle: MultibodyJointHandle) -> Option<(&mut Multibody, usize)> {
+        let link = self.rb2mb.get(handle.0)?;
+        let multibody = self.multibodies.get_mut(link.multibody.0)?;
+        Some((multibody, link.id))
+    }
+
+    /// Gets a mutable reference to the multibody identified by its `handle`.
+    ///
+    /// This method will bypass any modification-detection automatically done by the MultibodyJointSet.
     pub fn get_mut_internal(
         &mut self,
         handle: MultibodyJointHandle,
     ) -> Option<(&mut Multibody, usize)> {
+        // TODO: modification tracking?
         let link = self.rb2mb.get(handle.0)?;
         let multibody = self.multibodies.get_mut(link.multibody.0)?;
         Some((multibody, link.id))
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index cf52c1f..24e9754 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -305,20 +305,26 @@ impl RigidBody {
         self.ccd.ccd_active
     }
 
-    /// Sets the rigid-body's initial mass properties.
+    /// Sets the rigid-body's additional mass properties.
     ///
     /// If `wake_up` is `true` then the rigid-body will be woken up if it was
     /// put to sleep because it did not move for a while.
     #[inline]
-    pub fn set_mass_properties(&mut self, props: MassProperties, wake_up: bool) {
-        if self.mprops.local_mprops != props {
-            if self.is_dynamic() && wake_up {
-                self.wake_up(true);
-            }
+    pub fn set_additional_mass_properties(&mut self, props: MassProperties, wake_up: bool) {
+        if let Some(add_mprops) = &mut self.mprops.additional_local_mprops {
+            self.mprops.local_mprops += props;
+            self.mprops.local_mprops -= **add_mprops;
+            **add_mprops = props;
+        } else {
+            self.mprops.additional_local_mprops = Some(Box::new(props));
+            self.mprops.local_mprops += props;
+        }
 
-            self.mprops.local_mprops = props;
-            self.update_world_mass_properties();
+        if self.is_dynamic() && wake_up {
+            self.wake_up(true);
         }
+
+        self.update_world_mass_properties();
     }
 
     /// The handles of colliders attached to this rigid body.
diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs
index a75d58d..551ffde 100644
--- a/src/geometry/contact_pair.rs
+++ b/src/geometry/contact_pair.rs
@@ -1,7 +1,8 @@
-use crate::dynamics::RigidBodyHandle;
-use crate::geometry::{ColliderHandle, Contact, ContactManifold};
+use crate::dynamics::{RigidBodyHandle, RigidBodySet};
+use crate::geometry::{ColliderHandle, ColliderSet, Contact, ContactManifold};
 use crate::math::{Point, Real, Vector};
 use crate::pipeline::EventHandler;
+use crate::prelude::CollisionEventFlags;
 use parry::query::ContactManifoldsWorkspace;
 
 use super::CollisionEvent;
@@ -69,22 +70,36 @@ impl IntersectionPair {
 
     pub(crate) fn emit_start_event(
         &mut self,
+        bodies: &RigidBodySet,
+        colliders: &ColliderSet,
         collider1: ColliderHandle,
         collider2: ColliderHandle,
         events: &dyn EventHandler,
     ) {
         self.start_event_emited = true;
-        events.handle_collision_event(CollisionEvent::new(collider1, collider2, true), None);
+        events.handle_collision_event(
+            bodies,
+            colliders,
+            CollisionEvent::Started(collider1, collider2, CollisionEventFlags::SENSOR),
+            None,
+        );
     }
 
     pub(crate) fn emit_stop_event(
         &mut self,
+        bodies: &RigidBodySet,
+        colliders: &ColliderSet,
         collider1: ColliderHandle,
         collider2: ColliderHandle,
         events: &dyn EventHandler,
     ) {
         self.start_event_emited = false;
-        events.handle_collision_event(CollisionEvent::new(collider1, collider2, false), None);
+        events.handle_collision_event(
+            bodies,
+            colliders,
+            CollisionEvent::Stopped(collider1, collider2, CollisionEventFlags::SENSOR),
+            None,
+        );
     }
 }
 
@@ -155,20 +170,34 @@ impl ContactPair {
         deepest
     }
 
-    pub(crate) fn emit_start_event(&mut self, events: &dyn EventHandler) {
+    pub(crate) fn emit_start_event(
+        &mut self,
+        bodies: &RigidBodySet,
+        colliders: &ColliderSet,
+        events: &dyn EventHandler,
+    ) {
         self.start_event_emited = true;
 
         events.handle_collision_event(
-            CollisionEvent::new(self.collider1, self.collider2, true),
+            bodies,
+            colliders,
+            CollisionEvent::Started(self.collider1, self.collider2, CollisionEventFlags::empty()),
             Some(self),
         );
     }
 
-    pub(crate) fn emit_stop_event(&mut self, events: &dyn EventHandler) {
+    pub(crate) fn emit_stop_event(
+        &mut self,
+        bodies: &RigidBodySet,
+        colliders: &ColliderSet,
+        events: &dyn EventHandler,
+    ) {
         self.start_event_emited = false;
 
         events.handle_collision_event(
-            CollisionEvent::new(self.collider1, self.collider2, false),
+            bodies,
+            colliders,
+            CollisionEvent::Stopped(self.collider1, self.collider2, CollisionEventFlags::empty()),
             Some(self),
         );
     }
diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index 7733ad2..34d3707 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -50,27 +50,29 @@ pub type PointProjection = parry::query::PointProjection;
 pub type TOI = parry::query::TOI;
 pub use parry::shape::SharedShape;
 
+bitflags::bitflags! {
+    /// Flags providing more information regarding a collision event.
+    #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    pub struct CollisionEventFlags: u32 {
+        /// Flag set if at least one of the colliders involved in the
+        /// collision was a sensor when the event was fired.
+        const SENSOR = 0b0001;
+        /// Flag set if a `CollisionEvent::Stopped` was fired because
+        /// at least one of the colliders was removed.
+        const REMOVED = 0b0010;
+    }
+}
+
 #[derive(Copy, Clone, Hash, Debug)]
-/// Events occurring when two colliders start or stop being in contact (or intersecting)
+/// Events occurring when two colliders start or stop colliding
 pub enum CollisionEvent {
-    /// Event occurring when two colliders start being in contact (or intersecting)
-    Started(ColliderHandle, ColliderHandle),
-    /// Event occurring when two colliders stop being in contact (or intersecting).
-    ///
-    /// The boolean is set to `true` of this event originates from at least one of
-    /// the colliders being removed from the `ColliderSet`.
-    Stopped(ColliderHandle, ColliderHandle, bool),
+    /// Event occurring when two colliders start colliding
+    Started(ColliderHandle, ColliderHandle, CollisionEventFlags),
+    /// Event occurring when two colliders stop colliding.
+    Stopped(ColliderHandle, ColliderHandle, CollisionEventFlags),
 }
 
 impl CollisionEvent {
-    pub(crate) fn new(h1: ColliderHandle, h2: ColliderHandle, start: bool) -> Self {
-        if start {
-            Self::Started(h1, h2)
-        } else {
-            Self::Stopped(h1, h2, false)
-        }
-    }
-
     /// Is this a `Started` collision event?
     pub fn started(self) -> bool {
         matches!(self, CollisionEvent::Started(..))
@@ -84,14 +86,32 @@ impl CollisionEvent {
     /// The handle of the first collider involved in this collision event.
     pub fn collider1(self) -> ColliderHandle {
         match self {
-            Self::Started(h, _) | Self::Stopped(h, _, _) => h,
+            Self::Started(h, _, _) | Self::Stopped(h, _, _) => h,
         }
     }
 
     /// The handle of the second collider involved in this collision event.
     pub fn collider2(self) -> ColliderHandle {
         match self {
-            Self::Started(_, h) | Self::Stopped(_, h, _) => h,
+            Self::Started(_, h, _) | Self::Stopped(_, h, _) => h,
+        }
+    }
+
+    /// Was at least one of the colliders involved in the collision a sensor?
+    pub fn sensor(self) -> bool {
+        match self {
+            Self::Started(_, _, f) | Self::Stopped(_, _, f) => {
+                f.contains(CollisionEventFlags::SENSOR)
+            }
+        }
+    }
+
+    /// Was at least one of the colliders involved in the collision removed?
+    pub fn removed(self) -> bool {
+        match self {
+            Self::Started(_, _, f) | Self::Stopped(_, _, f) => {
+                f.contains(CollisionEventFlags::REMOVED)
+            }
         }
     }
 }
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index f4e8c58..3e7a13d 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -15,6 +15,